YARP
Yet Another Robot Platform
Network.h
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1/*
2 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3 * SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
4 * SPDX-License-Identifier: BSD-3-Clause
5 */
6
7#ifndef YARP_OS_NETWORK_H
8#define YARP_OS_NETWORK_H
9
10#include <yarp/os/Contact.h>
12#include <yarp/os/NameStore.h>
13#include <yarp/os/Portable.h>
14#include <yarp/os/Property.h>
15#include <yarp/os/QosStyle.h>
16#include <yarp/os/Time.h>
17#include <yarp/os/Value.h>
18
19
20namespace yarp::os {
21class ContactStyle;
22class QosStyle;
23} // namespace yarp::os
24
25// Make plugins in a library available for use
26#define YARP_DECLARE_PLUGINS(name) extern "C" void add_ ## name ## _plugins();
27#define YARP_REGISTER_PLUGINS(name) add_ ## name ## _plugins();
28
29namespace yarp::os {
30
38{
39public:
44 static void initMinimum();
45
51 static void initMinimum(yarp::os::yarpClockType clockType,
52 yarp::os::Clock* custom = nullptr);
53
59 static void autoInitMinimum();
60
67 static void autoInitMinimum(yarp::os::yarpClockType clockType,
68 yarp::os::Clock* custom = nullptr);
69
89 static void yarpClockInit(yarp::os::yarpClockType clockType,
90 Clock* custom = nullptr);
91
95 static void finiMinimum();
96
97 /*
98 * Return true if network is initialized.
99 * Expect problem if you use things that require a network before
100 * initializing it.
101 */
102 static bool isNetworkInitialized();
103
112 static bool connect(const std::string& src,
113 const std::string& dest,
114 const std::string& carrier = "",
115 bool quiet = true);
116
117 // Catch old uses of nullptr for carrier
118 static bool connect(const char* src,
119 const char* dest,
120 const char* carrier,
121 bool quiet = true)
122 {
123 return connect(std::string(src),
124 std::string(dest),
125 std::string((carrier == nullptr) ? "" : carrier),
126 quiet);
127 }
128
136 static bool connect(const std::string& src,
137 const std::string& dest,
138 const ContactStyle& style);
139
147 static bool disconnect(const std::string& src,
148 const std::string& dest,
149 bool quiet);
150
158 static bool disconnect(const std::string& src,
159 const std::string& dest,
160 const ContactStyle& style);
161
170 static bool disconnect(const std::string& src,
171 const std::string& dest,
172 const std::string& carrier = "",
173 bool quiet = true);
174
175 // Catch old uses of nullptr for carrier
176 static bool disconnect(const char* src,
177 const char* dest,
178 const char* carrier,
179 bool quiet = true)
180 {
181 return disconnect(std::string(src),
182 std::string(dest),
183 std::string((carrier == nullptr) ? "" : carrier),
184 quiet);
185 }
186
194 static bool isConnected(const std::string& src,
195 const std::string& dest,
196 bool quiet);
197
205 static bool isConnected(const std::string& src,
206 const std::string& dest,
207 const ContactStyle& style);
208
217 static bool isConnected(const std::string& src,
218 const std::string& dest,
219 const std::string& carrier = "",
220 bool quiet = true);
221
222 // Catch old uses of nullptr for carrier
223 static bool isConnected(const char* src,
224 const char* dest,
225 const char* carrier,
226 bool quiet = true)
227 {
228 return isConnected(std::string(src),
229 std::string(dest),
230 std::string((carrier == nullptr) ? "" : carrier),
231 quiet);
232 }
233
240 static bool exists(const std::string& port,
241 bool quiet = true,
242 bool checkVer = true);
243
250 static bool exists(const std::string& port,
251 const ContactStyle& style,
252 bool checkVer = true);
253
260 static bool sync(const std::string& port,
261 bool quiet = true);
262
269 static void assertion(bool shouldBeTrue);
270
281 static Contact queryName(const std::string& name);
282
291 static Contact registerName(const std::string& name);
292
301 static Contact registerContact(const Contact& contact);
302
310 static Contact unregisterName(const std::string& name);
311
319 static Contact unregisterContact(const Contact& contact);
320
321
332 static bool setProperty(const char* name,
333 const char* key,
334 const Value& value);
335
336
344 static Value* getProperty(const char* name,
345 const char* key);
346
347
354 static std::string getNameServerName();
355
362 static Contact getNameServerContact();
363
364
373 static bool setNameServerName(const std::string& name);
374
375
383 static bool setLocalMode(bool flag);
384
389 static bool getLocalMode();
390
391#ifndef YARP_NO_DEPRECATED // Since YARP 3.0.0
406 YARP_DEPRECATED
407 static std::string readString(bool* eof = nullptr);
408#endif // YARP_NO_DEPRECATED
409
410
427 static bool write(const Contact& contact,
428 PortWriter& cmd,
429 PortReader& reply,
430 bool admin = false,
431 bool quiet = false,
432 double timeout = -1);
433
446 static bool write(const Contact& contact,
447 PortWriter& cmd,
448 PortReader& reply,
449 const ContactStyle& style);
450
460 static bool writeToNameServer(PortWriter& cmd,
461 PortReader& reply,
462 const ContactStyle& style);
463
474 static bool write(const std::string& port_name,
475 PortWriter& cmd,
476 PortReader& reply);
477
478
487 static bool checkNetwork();
488
489
500 static bool checkNetwork(double timeout);
501
510 static bool initialized();
511
512#ifndef YARP_NO_DEPRECATED // Since YARP 3.4
519 YARP_DEPRECATED_MSG("Use LogComponents instead")
520 static void setVerbosity(int verbosity);
521#endif // YARP_NO_DEPRECATED
522
528 static void queryBypass(NameStore* store);
529
530 static NameStore* getQueryBypass();
531
532#ifndef YARP_NO_DEPRECATED // Since YARP 3.4
542 YARP_DEPRECATED_MSG("Use yarp::conf::environment::get_string instead")
543 static std::string getEnvironment(const char* key,
544 bool* found = nullptr);
545
554 YARP_DEPRECATED_MSG("Use yarp::conf::environment::set_string instead")
555 static void setEnvironment(const std::string& key,
556 const std::string& val);
557
565 YARP_DEPRECATED_MSG("Use yarp::conf::environment::unset instead")
566 static void unsetEnvironment(const std::string& key);
567#endif // YARP_NO_DEPRECATED
568
569
570#ifndef YARP_NO_DEPRECATED // Since YARP 3.3.0
576 YARP_DEPRECATED_MSG("Use yarp::conf::filesystem::preferred_separator instead")
577 static std::string getDirectorySeparator();
578
584 YARP_DEPRECATED_MSG("Use yarp::conf::environment::path_separator instead")
585 static std::string getPathSeparator();
586#endif // YARP_NO_DEPRECATED
587
596 static bool registerCarrier(const char* name,
597 const char* dll);
598
602 static void lock();
603
607 static void unlock();
608
617 static bool localNetworkAllocation();
618
630 static Contact detectNameServer(bool useDetectedServer,
631 bool& scanNeeded,
632 bool& serverUsed);
633
640 static bool setNameServerContact(Contact& nameServerContact);
641
651 static std::string getConfigFile(const char* fname);
652
663 static int getDefaultPortRange();
664
673 static bool setConnectionQos(const std::string& src,
674 const std::string& dest,
675 const QosStyle& srcStyle,
676 const QosStyle& destStyle,
677 bool quiet = true);
678
686 static bool setConnectionQos(const std::string& src,
687 const std::string& dest,
688 const QosStyle& style,
689 bool quiet = true);
690
699 static bool getConnectionQos(const std::string& src,
700 const std::string& dest,
701 QosStyle& srcStyle,
702 QosStyle& destStyle,
703 bool quiet = true);
704
710 static bool isValidPortName(const std::string& portName);
711
719 static bool waitConnection(const std::string& source,
720 const std::string& destination,
721 bool quiet = false);
722
729 static bool waitPort(const std::string& target, bool quiet = false);
730
735 static int sendMessage(const std::string& port,
736 yarp::os::PortWriter& writable,
737 bool silent = false);
738
747 static int sendMessage(const std::string& port,
748 yarp::os::PortWriter& writable,
749 std::string& output,
750 bool quiet);
751
759 static int disconnectInput(const std::string& src,
760 const std::string& dest,
761 bool silent = false);
762
770 static int poll(const std::string& target, bool silent = false);
771};
772
780{
781public:
789
803 yarp::os::Clock* custom = nullptr);
804
808 virtual ~Network();
809
816 static void init();
817
822 static void init(yarp::os::yarpClockType clockType,
823 Clock* custom = nullptr);
824
831 static void fini();
832};
833
834} // namespace yarp::os
835
836#endif // YARP_OS_NETWORK_H
Preferences for how to communicate with a contact.
Definition: ContactStyle.h:23
Represents how to reach a part of a YARP network.
Definition: Contact.h:33
Abstract interface for a database of port names.
Definition: NameStore.h:19
Utilities for manipulating the YARP network, excluding initialization and shutdown.
Definition: Network.h:38
static bool isConnected(const char *src, const char *dest, const char *carrier, bool quiet=true)
Definition: Network.h:223
static bool connect(const char *src, const char *dest, const char *carrier, bool quiet=true)
Definition: Network.h:118
static bool disconnect(const char *src, const char *dest, const char *carrier, bool quiet=true)
Definition: Network.h:176
Utilities for manipulating the YARP network, including initialization and shutdown.
Definition: Network.h:780
Network(yarp::os::yarpClockType clockType, yarp::os::Clock *custom=nullptr)
Initialize the YARP network using the specified clock.
static void fini()
Deinitialization.
virtual ~Network()
Destructor.
static void init()
Initialization.
Network()
Constructor.
static void init(yarp::os::yarpClockType clockType, Clock *custom=nullptr)
Initialization.
Interface implemented by all objects that can read themselves from the network, such as Bottle object...
Definition: PortReader.h:24
Interface implemented by all objects that can write themselves to the network, such as Bottle objects...
Definition: PortWriter.h:23
Preferences for the port's Quality of Service.
Definition: QosStyle.h:23
A single value (typically within a Bottle).
Definition: Value.h:43
#define YARP_DEPRECATED_MSG(MSG)
Expands to either the standard [[deprecated]] attribute or a compiler-specific decorator such as __at...
Definition: compiler.h:2895
STL namespace.
void setEnvironment(const std::string &key, const std::string &value)
Set or change an environment variable.
Definition: environment.h:322
bool unset(const std::string &key)
Remove an environment variable.
Definition: environment.h:272
std::string getEnvironment(const char *key, bool *found=nullptr)
Read a string from an environment variable.
Definition: environment.h:307
void unsetEnvironment(const std::string &key)
Remove an environment variable.
Definition: environment.h:336
std::string readString(bool *eof)
Definition: Terminal.cpp:76
An interface to the operating system, including Port based communication.
yarpClockType
Definition: Time.h:25
bool write(const ImageOf< PixelRgb > &src, const std::string &dest, image_fileformat format=FORMAT_PPM)
Definition: ImageFile.cpp:1091
The main, catch-all namespace for YARP.
Definition: dirs.h:16
#define YARP_init_API
Definition: api.h:32
#define YARP_os_API
Definition: api.h:18